D:/VL/BuildSystem/VL_DISTRO/Visualization_Library_SDK/src/vlCore/CatmullRomInterpolator.hpp

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#ifndef CatmullRomInterpolator_INCLUDE_ONCE
#define CatmullRomInterpolator_INCLUDE_ONCE

#include <vlCore/Interpolator.hpp>

namespace vl
{
  template<typename T>
  class CatmullRomInterpolator: public Object
  {
  public:
    virtual const char* className() { return "vl::CatmullRomInterpolator"; }

    CatmullRomInterpolator() 
    {
      VL_DEBUG_SET_OBJECT_NAME()
    }

    CatmullRomInterpolator(const std::vector<T>& path): mPath(path) {}

    void setupEndPoints(bool is_loop)
    {
      VL_CHECK(mPath.size()>=2)
      if (mPath.size()<2)
        return;

      mCatmullRomSpline = mPath;

      /*
       D-------C
       .       |
       .       |
       .       |
       A-------B
      */

      if (is_loop)
      {
        T a = mCatmullRomSpline[0];
        T b = mCatmullRomSpline[1];
        T c = mCatmullRomSpline[mCatmullRomSpline.size()-2];
        T d = mCatmullRomSpline[mCatmullRomSpline.size()-1];

        mCatmullRomSpline.insert(mCatmullRomSpline.begin(),d);
        mCatmullRomSpline.push_back(a);
        mCatmullRomSpline.push_back(b);
      }
      else
      {
        T a = mCatmullRomSpline[0] + (mCatmullRomSpline[0] - mCatmullRomSpline[1]);
        T b = mCatmullRomSpline[mCatmullRomSpline.size()-1] + (mCatmullRomSpline[mCatmullRomSpline.size()-1] - mCatmullRomSpline[mCatmullRomSpline.size()-2]);
        mCatmullRomSpline.insert(mCatmullRomSpline.begin(),a);
        mCatmullRomSpline.push_back(b);
      }

    }

    T computePoint(float t) const
    {
      VL_CHECK(mCatmullRomSpline.size() >= 4)
      size_t size = mCatmullRomSpline.size()-2;
      t = vl::clamp(t, 0.0f, 1.0f);
      if (t == 0.0f)
        return mCatmullRomSpline[1];
      else
      if (t == 1.0f)
        return mCatmullRomSpline[ mCatmullRomSpline.size()-1-1 ];
      else
      {
        int i    = 1 + (int)((size-1)*t);
        int i0 = i-1;
        int i1 = i;
        int i2 = i+1;
        int i3 = i+2;
        VL_CHECK(i3<(int)mCatmullRomSpline.size())
        float tt = (size-1)*t - int((size-1)*t); // vl::frac generates rounding errors
        T p0 = mCatmullRomSpline[i0];
        T p1 = mCatmullRomSpline[i1];
        T p2 = mCatmullRomSpline[i2];
        T p3 = mCatmullRomSpline[i3];
        T p  = ( (p1 * 2.0f) + (-p0 + p2)          * tt +
               ( p0*2.0f - p1*5.0f + p2*4.0f - p3) * tt*tt +
               ( p0*-1 + p1*3.0f - p2*3.0f + p3)   * tt*tt*tt ) * 0.5f;
        return p;
      }
    }

    void setPath(const std::vector<T>& path) { mPath = path; }
    
    const std::vector<T>& path() const { return mPath; }
    
    std::vector<T>& path() { return mPath; }

  protected:
    std::vector<T> mPath;
    std::vector<T> mCatmullRomSpline;
  };

  typedef CatmullRomInterpolator<float>     CatmullRomInterpolatorFloat_T;
  typedef CatmullRomInterpolator<vl::fvec2> CatmullRomInterpolatorFVec2_T;
  typedef CatmullRomInterpolator<vl::fvec3> CatmullRomInterpolatorFVec3_T;
  typedef CatmullRomInterpolator<vl::fvec4> CatmullRomInterpolatorFVec4_T;
  typedef CatmullRomInterpolator<double>    CatmullRomInterpolatorDouble_T;
  typedef CatmullRomInterpolator<vl::dvec2> CatmullRomInterpolatorDVec2_T;
  typedef CatmullRomInterpolator<vl::dvec3> CatmullRomInterpolatorDVec3_T;
  typedef CatmullRomInterpolator<vl::dvec4> CatmullRomInterpolatorDVec4_T;

  class CatmullRomInterpolatorFVec4: public vl::InterpolatorFVec4
  {
  public:
    CatmullRomInterpolatorFVec4(): mInterpolator( new CatmullRomInterpolatorFVec4_T ) {}
    CatmullRomInterpolatorFVec4(const std::vector<vl::fvec4>& path): mInterpolator( new CatmullRomInterpolatorFVec4_T(path) ) {}
    vl::fvec4 computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorFVec4_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorFVec4_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorFVec4_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorFVec4_T> mInterpolator;
  };
  class CatmullRomInterpolatorFVec3: public vl::InterpolatorFVec3
  {
  public:
    CatmullRomInterpolatorFVec3(): mInterpolator( new CatmullRomInterpolatorFVec3_T ) {}
    CatmullRomInterpolatorFVec3(const std::vector<vl::fvec3>& path): mInterpolator( new CatmullRomInterpolatorFVec3_T(path) ) {}
    vl::fvec3 computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorFVec3_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorFVec3_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorFVec3_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorFVec3_T> mInterpolator;
  };
  class CatmullRomInterpolatorFVec2: public vl::InterpolatorFVec2
  {
  public:
    CatmullRomInterpolatorFVec2(): mInterpolator( new CatmullRomInterpolatorFVec2_T ) {}
    CatmullRomInterpolatorFVec2(const std::vector<vl::fvec2>& path): mInterpolator( new CatmullRomInterpolatorFVec2_T(path) ) {}
    vl::fvec2 computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorFVec2_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorFVec2_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorFVec2_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorFVec2_T> mInterpolator;
  };
  class CatmullRomInterpolatorFloat: public vl::InterpolatorFloat
  {
  public:
    CatmullRomInterpolatorFloat(): mInterpolator( new CatmullRomInterpolatorFloat_T ) {}
    CatmullRomInterpolatorFloat(const std::vector<float>& path): mInterpolator( new CatmullRomInterpolatorFloat_T(path) ) {}
    float computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorFloat_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorFloat_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorFloat_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorFloat_T> mInterpolator;
  };
  class CatmullRomInterpolatorDVec4: public vl::InterpolatorDVec4
  {
  public:
    CatmullRomInterpolatorDVec4(): mInterpolator( new CatmullRomInterpolatorDVec4_T ) {}
    CatmullRomInterpolatorDVec4(const std::vector<vl::dvec4>& path): mInterpolator( new CatmullRomInterpolatorDVec4_T(path) ) {}
    vl::dvec4 computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorDVec4_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorDVec4_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorDVec4_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorDVec4_T> mInterpolator;
  };
  class CatmullRomInterpolatorDVec3: public vl::InterpolatorDVec3
  {
  public:
    CatmullRomInterpolatorDVec3(): mInterpolator( new CatmullRomInterpolatorDVec3_T ) {}
    CatmullRomInterpolatorDVec3(const std::vector<vl::dvec3>& path): mInterpolator( new CatmullRomInterpolatorDVec3_T(path) ) {}
    vl::dvec3 computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorDVec3_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorDVec3_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorDVec3_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorDVec3_T> mInterpolator;
  };
  class CatmullRomInterpolatorDVec2: public vl::InterpolatorDVec2
  {
  public:
    CatmullRomInterpolatorDVec2(): mInterpolator( new CatmullRomInterpolatorDVec2_T ) {}
    CatmullRomInterpolatorDVec2(const std::vector<vl::dvec2>& path): mInterpolator( new CatmullRomInterpolatorDVec2_T(path) ) {}
    vl::dvec2 computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorDVec2_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorDVec2_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorDVec2_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorDVec2_T> mInterpolator;
  };
  class CatmullRomInterpolatorDouble: public vl::InterpolatorDouble
  {
  public:
    CatmullRomInterpolatorDouble(): mInterpolator( new CatmullRomInterpolatorDouble_T ) {}
    CatmullRomInterpolatorDouble(const std::vector<double>& path): mInterpolator( new CatmullRomInterpolatorDouble_T(path) ) {}
    double computePoint(float t) const { return interpolator()->computePoint(t); }
    CatmullRomInterpolatorDouble_T* interpolator() { return mInterpolator.get(); }
    const CatmullRomInterpolatorDouble_T* interpolator() const { return mInterpolator.get(); }
    void setInterpolator(CatmullRomInterpolatorDouble_T* interpolator) { mInterpolator = interpolator; }
  protected:
    vl::ref<CatmullRomInterpolatorDouble_T> mInterpolator;
  };
}

#endif